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ESE350 project, Spring 2016, University of Pennsylvania
Dependencies: Adafruit9-DOf Receiver mbed-rtos mbed
Diff: sensor.cpp
- Revision:
- 10:e7d1801e966a
- Parent:
- 4:3040d0f9e8c6
- Child:
- 14:64b06476d943
--- a/sensor.cpp Sat Apr 02 14:54:46 2016 +0000 +++ b/sensor.cpp Sat Apr 02 17:41:37 2016 +0000 @@ -28,19 +28,19 @@ /* Calculate initial offsets and noise level of gyro */ float sampleNum = 500; sensors_event_t gyro_event; - offset_gyro.x_offset=0; - offset_gyro.y_offset=0; - offset_gyro.z_offset=0; + offset_gyro.x=0; + offset_gyro.y=0; + offset_gyro.z=0; for (int n = 0; n < sampleNum; n++) { gyro.getEvent(&gyro_event); - offset_gyro.x_offset += gyro_event.gyro.x; - offset_gyro.y_offset += gyro_event.gyro.y; - offset_gyro.z_offset += gyro_event.gyro.z; + offset_gyro.x += gyro_event.gyro.x; + offset_gyro.y += gyro_event.gyro.y; + offset_gyro.z += gyro_event.gyro.z; } - offset_gyro.x_offset = offset_gyro.x_offset / sampleNum; - offset_gyro.y_offset = offset_gyro.y_offset / sampleNum; - offset_gyro.y_offset = offset_gyro.y_offset / sampleNum; + offset_gyro.x = offset_gyro.x / sampleNum; + offset_gyro.y = offset_gyro.y / sampleNum; + offset_gyro.z = offset_gyro.z / sampleNum; /* s_com->print("Offsets... X: "); s_com->print(x_offset); s_com->print("\tY: ");